遥控器上线才使能电机

RBcore/include/BHBF.h

@@ -78,6 +78,7 @@ typedef enum {
     COMMON_CMD_STOP_ALL,         // 机器人停止（建议各个控制硬件的模块都要实现）
     MOTOR_START = 0x0100,        // *电机命令开始*
     MOTOR_SET_SPEED,		     // 设置速度
+	MOTOR_POWER_ENABLE,		     // 电机上电
 	MOTOR_POWER_DISABLE,		 // 电机失电
     RBCORE_START = 0x0200,       // *机器人共性命令开始*
 

project/paint_robot_new/paint_robot_new.c

@@ -268,6 +268,7 @@ static void Custom_ModuleHandler(const Msg_t *pstMsg)
 				if (g_stMK32.CH4_SA == 0 && g_stMK32.CH5_SB == 0 && g_stMK32.CH6_SC == 0
 						&& g_stMK32.CH7_SD == 0 && g_stMK32.IsOnline == 1)
 				{
+					MsgCenter_SendTo(MODULE_NAME_MOTOR, MOTOR_POWER_ENABLE, NULL, 0);
 					g_Is_All_Button_Reset = 1;
 				}
 			}

project/paint_robot_new/paint_robot_new_motors.c

@@ -43,6 +43,7 @@
 static Motor_Instance_t *g_apstMotors[MOTOR_INSTANCE_MAX] = {NULL, NULL, NULL, NULL, NULL, NULL, NULL, NULL};
 static uint32_t g_uiMotorModuleID = 0;
 static int g_aiMotorSpeed[MOTOR_INSTANCE_MAX] = {0};
+static int g_isMotorInit = -1; // -1表示还在等待遥控器初始化完毕，0表示可以进行电机初始化，1表示电机初始化完毕，运行电机主循环
 
 /*----------------------------------------------*
  * 常量定义                                     *
@@ -72,6 +73,11 @@ static void Motor_ModuleHandler(const Msg_t *pstMsg)
             g_aiMotorSpeed[1] = MotorMgr_SpeedConvert(g_apstMotors[1], aiMotorSpeed[1]);
             break;
         }
+        case MOTOR_POWER_ENABLE:
+		{
+			g_isMotorInit = 0;
+			break;
+		}
         case MOTOR_POWER_DISABLE:
 		{
 			HAL_GPIO_WritePin(OUT_0_GPIO_Port, OUT_0_Pin, 1);
@@ -125,7 +131,14 @@ static void decode_LeiSaiMotor(const char *_pBuffer, uint32_t _iSize)
 
 void MotorTask(void *argument)
 {
-	// 此时消息中心还未就绪，直接调用HAL库接口给电机上电
+	g_uiMotorModuleID = MsgCenter_Register(MODULE_NAME_MOTOR, Motor_ModuleHandler);
+    while(1)
+    {
+    	// 处理消息
+    	MsgCenter_ProcessWait(g_uiMotorModuleID, 2);
+
+    	if (0 == g_isMotorInit)
+    	{
     		HAL_GPIO_WritePin(OUT_0_GPIO_Port, OUT_0_Pin, 0);
 			// 初始化FDCAN1，使用雷赛电机的回调
 			TCANUserData *ptCANUserData = CAN_userdata_init(&hfdcan1, 32, 0);
@@ -153,8 +166,6 @@ void MotorTask(void *argument)
 			};
 			g_apstMotors[1] = MotorMgr_Create(&stRightMotorConfig, g_ptCAN1, LeiSai_GetProtocol(), NULL);
 
-    g_uiMotorModuleID = MsgCenter_Register(MODULE_NAME_MOTOR, Motor_ModuleHandler);
-
 			MotorMgr_ResetAll(g_apstMotors[0]);
 			Rd_Delay(500);
 			MotorMgr_ResetAll(g_apstMotors[1]);
@@ -173,8 +184,9 @@ void MotorTask(void *argument)
 			MotorMgr_SetHome(g_apstMotors[1]);
 			MotorMgr_SpeedModeInit(g_apstMotors[0]);
 			MotorMgr_SpeedModeInit(g_apstMotors[1]);
-
-    while(1)
+    		g_isMotorInit = 1;
+    	}
+    	else if (g_isMotorInit > 0)
     	{
     		static int LS_Motor_Config_Count = 0;
 			if (LS_Motor_Config_Count <= 200)
@@ -185,8 +197,6 @@ void MotorTask(void *argument)
 				MotorMgr_SetWatchdog(g_apstMotors[1], 1000);
 				Rd_Delay(4);
 			}
-        // 处理消息
-        MsgCenter_ProcessWait(g_uiMotorModuleID, 2);
 			MotorMgr_RequestPosition(g_apstMotors[0]);
 			Rd_Delay(4);
 			MotorMgr_RequestPosition(g_apstMotors[1]);
@@ -204,4 +214,5 @@ void MotorTask(void *argument)
 			MotorMgr_SetTargetSpeed(g_apstMotors[1], g_aiMotorSpeed[1]);
 			Rd_Delay(4);
     	}
+    }
 }